Architectural Structures and Viewpoints
Description of architectural structures and software designs in general by independent and orthogonal views. This discipline corresponds to the Section 2.3.1 in the SWEBOK.
31 publications
- 1985
- 1990
- 1995
- 2000
- 2005
- 2010
- 2015
Scenario Building
In the Scenario Building phase, environment features, constraints and characteristics are defined. Furthermore, the robot's task is defined. This includes the specification of customer acceptance tests to be performed in the specified and potentially generalized environment.
| Key | Title | Authors | Year | Formalism | Tool |
|---|---|---|---|---|---|
| Ciccozzi2016Adopting | Adopting MDE for Specifying and Executing Civilian Missions of Mobile Multi-Robot SystemsJournal of IEEE Access website | Federico Ciccozzi, Davide Di Ruscio, Ivano Malavolta, Patrizio Pelliccione | 2016 | FLYAQ, Eclipse Virgo, Eclipse Modeling Framework | |
| gritzner2018synthesizing | Synthesizing Executable PLC Code for Robots from Scenario-Based GR(1) SpecificationsSoftware Technologies: Applications and Foundations website | Daniel Gritzner, Joel Greenyer | 2018 | ScenarioTools | |
| kunze2011towards | Towards semantic robot description languagesRobotics and Automation (ICRA), 2011 IEEE International Conference on | Lars Kunze, Tobias Roehm, Michael Beetz | 2011 | OWL | |
| noreils1995plan | Plan execution monitoring and control architecture for mobile robotsRobotics and Automation, IEEE Transactions on | Fabrice R Noreils, Raja G Chatila | 1995 | (E)BNF | unknown |
Functional Design
In the Functional Design phase, hardware requirements and top-level functionalities are derived based on the scenario definition. Furthermore, top-level functionalities are decomposed and dependencies among them are identified. Also an initial functional design stating which functionalities interact with each other is developed.
| Key | Title | Authors | Year | Formalism | Tool |
|---|---|---|---|---|---|
| anderson2012rdis | RDIS: Generalizing Domain Concepts to Specify Device to Framework MappingsRobotics and Automation (ICRA), 2012 IEEE International Conference on | Monica Anderson, Jason Bowman, Paul Kilgo | 2012 | ANTLR grammar | unknown |
| causse1993man | A man machine interface for a mobile robotIntelligent Robots and Systems' 93, IROS'93. Proceedings of the 1993 IEEE/RSJ International Conference on | Olivier Causse, James L Crowley | 1993 | (E)BNF | unknown |
| Ciccozzi2016Adopting | Adopting MDE for Specifying and Executing Civilian Missions of Mobile Multi-Robot SystemsJournal of IEEE Access website | Federico Ciccozzi, Davide Di Ruscio, Ivano Malavolta, Patrizio Pelliccione | 2016 | FLYAQ, Eclipse Virgo, Eclipse Modeling Framework | |
| dhouib2012robotml | Robotml, a domain-specific language to design, simulate and deploy robotic applicationsSimulation, Modeling, and Programming for Autonomous Robots | Saadia Dhouib, Selma Kchir, Serge Stinckwich, Tewfik Ziadi, Mikal Ziane | 2012 | UML/MOF | GMF |
| dittes2011intelligent | Intelligent system architectures-comparison by translationIntelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on | Benjamin Dittes, Christian Goerick | 2011 | unknown | |
| gherardi2014modeling | Modeling and reusing robotic software architectures: the hyperflex toolchainRobotics and Automation (ICRA), 2014 IEEE International Conference on | Luca Gherardi, Davide Brugali | 2014 | ecore | EMF/GMF |
| gritzner2018synthesizing | Synthesizing Executable PLC Code for Robots from Scenario-Based GR(1) SpecificationsSoftware Technologies: Applications and Foundations website | Daniel Gritzner, Joel Greenyer | 2018 | ScenarioTools | |
| hochgeschwender2013model | A model-based approach to software deployment in roboticsIntelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on | Nico Hochgeschwender, Luca Gherardi, Azamat Shakhirmardanov, Gerhard K Kraetzschmar, Davide Brugali, Herman Bruyninckx | 2013 | ecore | xtext |
| jara2011ejs+ | Ejs+ EjsRL: An interactive tool for industrial robots simulation, Computer Vision and remote operationRobotics and Autonomous systems | Carlos A Jara, Francisco A Candelas, Pablo Gil, Fernando Torres, Francisco Esquembre, Sebastián Dormido | 2011 | other | none |
| nordmann2015modeling | Modeling of Movement Control Architectures based on Motion Primitives using Domain-Specific LanguagesInternational Conference on Robotics and Automation (ICRA) | Arne Nordmann, Sebastian Wrede, Jochen J. Steil | 2015 | MPS | |
| ramaswamy2014saferobots | SafeRobots: A model-driven Framework for developing Robotic SystemsIntelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on | Anand Ramaswamy, Bruno Monsuez, Adriana Tapus | 2014 | ecore | EMF/GMF |
| ramaswamy2017extensible | An Extensible Model-based Framework Development Methodology for Robotic SystemsJournal of Software Engineering for Robotics | Arunkumar Ramaswamy, Bruno Monsuez, Adriana Tapus | 2017 | EMF | |
| schlegel2010design | Design abstraction and processes in robotics: From code-driven to model-driven engineeringSimulation, Modeling, and Programming for Autonomous Robots | Christian Schlegel, Andreas Steck, Davide Brugali, Alois Knoll | 2010 | UML/MOF | GMF |
Platform Building
In the Platform Building phase, the robot hardware is determined. This includes the selection and potential configuration of robot's sensors and actuators meeting the requirements defined in the functional design phase.
| Key | Title | Authors | Year | Formalism | Tool |
|---|---|---|---|---|---|
| anderson2012rdis | RDIS: Generalizing Domain Concepts to Specify Device to Framework MappingsRobotics and Automation (ICRA), 2012 IEEE International Conference on | Monica Anderson, Jason Bowman, Paul Kilgo | 2012 | ANTLR grammar | unknown |
| bordignon2011generalized | Generalized programming of modular robots through kinematic configurationsIntelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on | Mirko Bordignon, Kasper Stoy, Ulrik Pagh Schultz | 2011 | ||
| causse1993man | A man machine interface for a mobile robotIntelligent Robots and Systems' 93, IROS'93. Proceedings of the 1993 IEEE/RSJ International Conference on | Olivier Causse, James L Crowley | 1993 | (E)BNF | unknown |
| gritzner2018synthesizing | Synthesizing Executable PLC Code for Robots from Scenario-Based GR(1) SpecificationsSoftware Technologies: Applications and Foundations website | Daniel Gritzner, Joel Greenyer | 2018 | ScenarioTools | |
| hochgeschwender2014declarative | Declarative Specification of Robot Perception ArchitecturesSimulation, Modeling, and Programming for Autonomous Robots | Nico Hochgeschwender, Sven Schneider, Holger Voos, Gerhard K Kraetzschmar | 2014 | ecore | xtext |
| jara2011ejs+ | Ejs+ EjsRL: An interactive tool for industrial robots simulation, Computer Vision and remote operationRobotics and Autonomous systems | Carlos A Jara, Francisco A Candelas, Pablo Gil, Fernando Torres, Francisco Esquembre, Sebastián Dormido | 2011 | other | none |
| nishiyama1998logic | Logic specifications for multiple robots based on a current programming languageIntelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on | Hiroyuki Nishiyama, Hayato Ohwada, Fumio Mizoguchi | 1998 | unknown | unknown |
| noreils1995plan | Plan execution monitoring and control architecture for mobile robotsRobotics and Automation, IEEE Transactions on | Fabrice R Noreils, Raja G Chatila | 1995 | (E)BNF | unknown |
| ramaswamy2014saferobots | SafeRobots: A model-driven Framework for developing Robotic SystemsIntelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on | Anand Ramaswamy, Bruno Monsuez, Adriana Tapus | 2014 | ecore | EMF/GMF |
| ramaswamy2014solution | Solution space modeling for robotic systemsJournal for Software Engineering Robotics (JOSER) | Arun Kumar Ramaswamy, Bruno Monsuez, Adriana Tapus | 2014 | ecore | EMF/GMF |
| ringert2015language | Language and code generator composition for model-driven engineering of robotics component & connector systemsJOURNAL OF SOFTWARE ENGINEERING IN ROBOTICS websitedownload | Jan Oliver Ringert, Roth Alexander, Rumpe Bernhard, Wortmann Andreas | 2015 | MontiArcAutomaton |
Capability Building
In the Capability Building phase, basic and composite components are constructed up to the application-level and constraints for their deployment are specified. This also includes the specification and eventually generation of additional knowledge required for component execution such as knowledge bases and training data.
| Key | Title | Authors | Year | Formalism | Tool |
|---|---|---|---|---|---|
| alonso2010v3cmm | V3cmm: A 3-view component meta-model for model-driven robotic software developmentJournal of Software Engineering for Robotics | Diego Alonso, Cristina Vicente-Chicote, Francisco Ortiz, Juan Pastor, Barbara Alvarez | 2010 | ecore | EMF/GMF |
| anderson2012rdis | RDIS: Generalizing Domain Concepts to Specify Device to Framework MappingsRobotics and Automation (ICRA), 2012 IEEE International Conference on | Monica Anderson, Jason Bowman, Paul Kilgo | 2012 | ANTLR grammar | unknown |
| bordignon2011generalized | Generalized programming of modular robots through kinematic configurationsIntelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on | Mirko Bordignon, Kasper Stoy, Ulrik Pagh Schultz | 2011 | ||
| bouzouia1998three | A three-layer workcell control architecture designRobotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on | Brahim Bouzouia, Fawzi Guerroumi, Abdelmalek Boukhezar | 1998 | unknown | unknown |
| causse1993man | A man machine interface for a mobile robotIntelligent Robots and Systems' 93, IROS'93. Proceedings of the 1993 IEEE/RSJ International Conference on | Olivier Causse, James L Crowley | 1993 | (E)BNF | unknown |
| dhouib2012robotml | Robotml, a domain-specific language to design, simulate and deploy robotic applicationsSimulation, Modeling, and Programming for Autonomous Robots | Saadia Dhouib, Selma Kchir, Serge Stinckwich, Tewfik Ziadi, Mikal Ziane | 2012 | UML/MOF | GMF |
| dittes2011intelligent | Intelligent system architectures-comparison by translationIntelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on | Benjamin Dittes, Christian Goerick | 2011 | unknown | |
| fleury1997g | GenoM: A Tool for the Specification and the Implementation of Operating Modules in a Distributed Robot ArchitectureIntelligent Robots and Systems, 1997. IROS'97., Proceedings of the 1997 IEEE/RSJ International Conference on | Sara Fleury, Matthieu Herrb, Raja Chatila | 1997 | unknown | unknown |
| gherardi2014modeling | Modeling and reusing robotic software architectures: the hyperflex toolchainRobotics and Automation (ICRA), 2014 IEEE International Conference on | Luca Gherardi, Davide Brugali | 2014 | ecore | EMF/GMF |
| gritzner2018synthesizing | Synthesizing Executable PLC Code for Robots from Scenario-Based GR(1) SpecificationsSoftware Technologies: Applications and Foundations website | Daniel Gritzner, Joel Greenyer | 2018 | ScenarioTools | |
| hochgeschwender2013model | A model-based approach to software deployment in roboticsIntelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on | Nico Hochgeschwender, Luca Gherardi, Azamat Shakhirmardanov, Gerhard K Kraetzschmar, Davide Brugali, Herman Bruyninckx | 2013 | ecore | xtext |
| hochgeschwender2014declarative | Declarative Specification of Robot Perception ArchitecturesSimulation, Modeling, and Programming for Autonomous Robots | Nico Hochgeschwender, Sven Schneider, Holger Voos, Gerhard K Kraetzschmar | 2014 | ecore | xtext |
| hongxing2009component | A component based design framework for robot software architectureIntelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on | Wei Hongxing, Duan Xinming, Li Shiyi, Tong Guofeng, Wang Tianmiao | 2009 | (E)BNF | unknown |
| jara2011ejs+ | Ejs+ EjsRL: An interactive tool for industrial robots simulation, Computer Vision and remote operationRobotics and Autonomous systems | Carlos A Jara, Francisco A Candelas, Pablo Gil, Fernando Torres, Francisco Esquembre, Sebastián Dormido | 2011 | other | none |
| kunze2011towards | Towards semantic robot description languagesRobotics and Automation (ICRA), 2011 IEEE International Conference on | Lars Kunze, Tobias Roehm, Michael Beetz | 2011 | OWL | |
| mallet2002specification | A specification of generic robotics software components: future evolutions of G en o M in the Orocos contextIntelligent Robots and Systems, 2002. IEEE/RSJ International Conference on | Anthony Mallet, Sara Fleury, Herman Bruyninckx | 2002 | (E)BNF | unknown |
| mallet2010genom3 | GenoM3: Building middleware-independent robotic componentsRobotics and Automation (ICRA), 2010 IEEE International Conference on | Anthony Mallet, Cédric Pasteur, Matthieu Herrb, Séverin Lemaignan, Félix Ingrand | 2010 | unknown | own development |
| nishiyama1998logic | Logic specifications for multiple robots based on a current programming languageIntelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on | Hiroyuki Nishiyama, Hayato Ohwada, Fumio Mizoguchi | 1998 | unknown | unknown |
| nordmann2015modeling | Modeling of Movement Control Architectures based on Motion Primitives using Domain-Specific LanguagesInternational Conference on Robotics and Automation (ICRA) | Arne Nordmann, Sebastian Wrede, Jochen J. Steil | 2015 | MPS | |
| noreils1995plan | Plan execution monitoring and control architecture for mobile robotsRobotics and Automation, IEEE Transactions on | Fabrice R Noreils, Raja G Chatila | 1995 | (E)BNF | unknown |
| pembeci2003functional | Functional reactive programming as a hybrid system frameworkRobotics and Automation, 2003. Proceedings. ICRA'03. IEEE International Conference on | Izzet Pembeci, Gregory Hager | 2003 | none | |
| ramaswamy2014saferobots | SafeRobots: A model-driven Framework for developing Robotic SystemsIntelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on | Anand Ramaswamy, Bruno Monsuez, Adriana Tapus | 2014 | ecore | EMF/GMF |
| ramaswamy2014solution | Solution space modeling for robotic systemsJournal for Software Engineering Robotics (JOSER) | Arun Kumar Ramaswamy, Bruno Monsuez, Adriana Tapus | 2014 | ecore | EMF/GMF |
| ringert2015language | Language and code generator composition for model-driven engineering of robotics component & connector systemsJOURNAL OF SOFTWARE ENGINEERING IN ROBOTICS websitedownload | Jan Oliver Ringert, Roth Alexander, Rumpe Bernhard, Wortmann Andreas | 2015 | MontiArcAutomaton | |
| schlegel2010design | Design abstraction and processes in robotics: From code-driven to model-driven engineeringSimulation, Modeling, and Programming for Autonomous Robots | Christian Schlegel, Andreas Steck, Davide Brugali, Alois Knoll | 2010 | UML/MOF | GMF |
| steck2011managing | Managing execution variants in task coordination by exploiting design-time models at run-timeIntelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on | Andreas Steck, Christian Schlegel | 2011 | internal (lisp) | |
| sun2012model | A model-driven approach to support engineering changes in industrial robotics software | Yu Sun, Jeff Gray, Karlheinz Bulheller, Nicolaus von Baillou | 2012 | ||
| utz2005hierarchical | Hierarchical behavior organizationIntelligent Robots and Systems, 2005.(IROS 2005). 2005 IEEE/RSJ International Conference on | Hans Utz, Gerhard Kraetzschmar, Gerd Mayer, Günther Palm | 2005 | XSD |
System Deployment
In the System Deployment phase, top-level component(s) are packaged into a complete application system which defines a mapping of components and composites to computational units. Furthermore, features and procedures for system launch management are developed.
| Key | Title | Authors | Year | Formalism | Tool |
|---|---|---|---|---|---|
| alonso2010v3cmm | V3cmm: A 3-view component meta-model for model-driven robotic software developmentJournal of Software Engineering for Robotics | Diego Alonso, Cristina Vicente-Chicote, Francisco Ortiz, Juan Pastor, Barbara Alvarez | 2010 | ecore | EMF/GMF |
| bouzouia1998three | A three-layer workcell control architecture designRobotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on | Brahim Bouzouia, Fawzi Guerroumi, Abdelmalek Boukhezar | 1998 | unknown | unknown |
| dhouib2012robotml | Robotml, a domain-specific language to design, simulate and deploy robotic applicationsSimulation, Modeling, and Programming for Autonomous Robots | Saadia Dhouib, Selma Kchir, Serge Stinckwich, Tewfik Ziadi, Mikal Ziane | 2012 | UML/MOF | GMF |
| hochgeschwender2013model | A model-based approach to software deployment in roboticsIntelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on | Nico Hochgeschwender, Luca Gherardi, Azamat Shakhirmardanov, Gerhard K Kraetzschmar, Davide Brugali, Herman Bruyninckx | 2013 | ecore | xtext |
| mallet2002specification | A specification of generic robotics software components: future evolutions of G en o M in the Orocos contextIntelligent Robots and Systems, 2002. IEEE/RSJ International Conference on | Anthony Mallet, Sara Fleury, Herman Bruyninckx | 2002 | (E)BNF | unknown |
| ringert2015language | Language and code generator composition for model-driven engineering of robotics component & connector systemsJOURNAL OF SOFTWARE ENGINEERING IN ROBOTICS websitedownload | Jan Oliver Ringert, Roth Alexander, Rumpe Bernhard, Wortmann Andreas | 2015 | MontiArcAutomaton | |
| schlegel2010design | Design abstraction and processes in robotics: From code-driven to model-driven engineeringSimulation, Modeling, and Programming for Autonomous Robots | Christian Schlegel, Andreas Steck, Davide Brugali, Alois Knoll | 2010 | UML/MOF | GMF |
Product Maintenance
In the Product Maintenance phase, the robot application is operated and maintained. This includes eventually the analysis of log files and the tuning of system parameters.
| Key | Title | Authors | Year | Formalism | Tool |
|---|---|---|---|---|---|
| Ciccozzi2016Adopting | Adopting MDE for Specifying and Executing Civilian Missions of Mobile Multi-Robot SystemsJournal of IEEE Access website | Federico Ciccozzi, Davide Di Ruscio, Ivano Malavolta, Patrizio Pelliccione | 2016 | FLYAQ, Eclipse Virgo, Eclipse Modeling Framework | |
| hochgeschwender2014declarative | Declarative Specification of Robot Perception ArchitecturesSimulation, Modeling, and Programming for Autonomous Robots | Nico Hochgeschwender, Sven Schneider, Holger Voos, Gerhard K Kraetzschmar | 2014 | ecore | xtext |
Not assigned to a development phase
| Key | Title | Authors | Year | Formalism | Tool |
|---|---|---|---|---|---|
| ferrein2008logic | Logic-based robot control in highly dynamic domainsRobotics and Autonomous Systems | Alexander Ferrein, Gerhard Lakemeyer | 2008 |